
cmake_minimum_required(VERSION 3.0.2)
project(kortex_examples)

add_compile_options(-std=c++11)
add_definitions(-D_OS_UNIX)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation actionlib_msgs actionlib kortex_driver)

## Declare a catkin package
catkin_package()
catkin_python_setup()

include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(include ${PROJECT_SOURCE_DIR}/src)
include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client)
include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client_stubs)
include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/messages)
include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/common)

add_executable(example_actuator_configuration_cpp src/actuator_config/example_actuator_configuration.cpp)
add_dependencies(example_actuator_configuration_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(example_actuator_configuration_cpp ${catkin_LIBRARIES} )

add_executable(example_vision_configuration_cpp src/vision_config/example_vision_configuration.cpp)
add_dependencies(example_vision_configuration_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(example_vision_configuration_cpp ${catkin_LIBRARIES} )

add_executable(example_full_arm_movement_cpp src/full_arm/example_full_arm_movement.cpp)
add_dependencies(example_full_arm_movement_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(example_full_arm_movement_cpp ${catkin_LIBRARIES} )

add_executable(example_cartesian_poses_with_notifications_cpp src/full_arm/example_cartesian_poses_with_notifications.cpp)
add_dependencies(example_cartesian_poses_with_notifications_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(example_cartesian_poses_with_notifications_cpp ${catkin_LIBRARIES} )

add_executable(example_waypoint_action_client_cpp src/full_arm/example_waypoint_action_client.cpp)
add_dependencies(example_waypoint_action_client_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(example_waypoint_action_client_cpp ${catkin_LIBRARIES} )

if(CATKIN_ENABLE_TESTING)
	find_package(rostest REQUIRED)
	catkin_add_gtest(kortex_examples_tests src/tests/kortex_examples_tests.cc)
    target_link_libraries(kortex_examples_tests ${catkin_LIBRARIES})
endif()

# Install

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS src/actuator_config/example_actuator_configuration.py
                               src/full_arm/example_cartesian_poses_with_notifications.py
                               src/full_arm/example_full_arm_movement.py
                               src/full_arm/example_waypoint_action_client.py
                               src/move_it/example_move_it_trajectories.py
                               src/vision_config/example_vision_configuration.py 
                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

## Mark executables and/or libraries for installation
install(TARGETS 
    example_actuator_configuration_cpp
    example_vision_configuration_cpp
    example_full_arm_movement_cpp
    example_cartesian_poses_with_notifications_cpp
    example_waypoint_action_client_cpp
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
